Related papers: Minimal Actuator Selection
This paper discusses the problem of assembly line control and introduces an optimal control formulation that can be used to improve the performance of the assembly line, in terms of cycle time minimization, resources' utilization, etc. A…
In this paper we study the problem of computing minimum-energy controls for linear systems from experimental data. The design of open-loop minimum-energy control inputs to steer a linear system between two different states in finite time is…
Motivated by the controllability/reachability problems for switched linear control systems and some classes of nonlinear (mechanical) control systems we address a related problem of existence of a cyclic vector for an associative (matrix)…
Consider the problem of covertly controlling a linear system. In this problem, Alice desires to control (stabilize or change the behavior of) a linear system, while keeping an observer, Willie, unable to decide if the system is indeed being…
In this paper, by using the Brunovsky normal form, we provide a reformulation of the problem consisting in finding the actuator design which minimizes the controllability cost for finite-dimensional linear systems with scalar controls. Such…
Controlling complex networks is of paramount importance in science and engineering. Despite the recent development of structural-controllability theory, we continue to lack a framework to control undirected complex networks, especially…
Optimal control of switched systems is challenging due to the discrete nature of the switching control input. The embedding-based approach addresses this challenge by solving a corresponding relaxed optimal control problem with only…
In this paper a decentralized control algorithm for systems composed of $N$ dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into $N$ optimal control sub-problems and a…
This paper introduces a framework for quantitative characterization of the controllability of time-varying linear systems (or networks) in terms of input novelty. The motivation for such an approach comes from the study of biophysical…
In leader-follower multi-agent networks with switching topologies, choosing a subset of agents as leaders is a critical step to achieve desired performances. In this paper, we concentrate on the problem of selecting a minimum-size set of…
In pursuit of higher energy efficiency in computer networks, one subfield of green traffic engineering aims at reducing the size of a network during times of low traffic, while still guaranteeing the ability to route all occurring demands.…
In this paper, we study cooperative multi-agent systems in which the target objective and the controls exercised by the agents are dependent on the choices they made at initial system time. Such systems have been investigated in several…
A fundamental concept in control theory is that of controllability, where any system state can be reached through an appropriate choice of control inputs. Indeed, a large body of classical and modern approaches are designed for controllable…
This paper addresses the fundamental question of determining the minimum number of distinct control laws required for global controllability of nonlinear systems that exhibit singularities in their feedback linearising controllers. We…
We present a method for optimal control with respect to a linear cost function for positive linear systems with coupled input constraints. We show that the optimal cost function and resulting sparse state feedback for these systems can be…
We consider the problem of minimising the number of states in a multiplicity tree automaton over the field of rational numbers. We give a minimisation algorithm that runs in polynomial time assuming unit-cost arithmetic. We also show that a…
We discuss the multilevel control problem for linear dynamical systems, consisting in designing a piece-wise constant control function taking values in a finite-dimensional set. In particular, we provide a complete characterization of…
This article develops variational integrators for a class of underactuated mechanical systems using the theory of discrete mechanics. Further, a discrete optimal control problem is formulated for the considered class of systems and…
In this paper, we study structural controllability of a linear time invariant (LTI) composite system consisting of several subsystems. We assume that the neighbourhood of each subsystem is unconstrained, i.e., any subsystem can interact…
The quantification of controllability and observability has recently received new interest in the context of large, complex networks of dynamical systems. A fundamental but computationally difficult problem is the placement or selection of…